A Distributed Hunting Approach for Multiple Autonomous Robots

	A Distributed Hunting Approach for Multiple Autonomous Robots
	Cao, Zhiqiang1 ; Zhou, Chao1 ; Cheng, Long1 ; Yang, Yuequan 2; Zhang, Wenwen 1; Tan, Min1
发表期刊	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2013-04-30
卷号	10 页码:1-8
文章类型	Article
摘要	A novel distributed hunting approach for multiple autonomous robots in unstructured mode-free environments, which is based on effective sectors and local sensing, is proposed in this paper. The visual information, encoder and sonar data are integrated in the robot's local frame, and the effective sector is introduced. The hunting task is modelled as three states: search state, round-obstacle state, and hunting state, and the corresponding switching conditions and control strategies are given. A form of cooperation will emerge where the robots interact only locally with each other. The evader, whose motion is a priori unknown to the robots, adopts an escape strategy to avoid being captured. The approach is scalable and may cope with problems of communication and wheel slippage. The effectiveness of the proposed approach is verified through experiments with a team of wheeled robots.
关键词	Autonomous Robots Hunting Effective Sector Local Sensing Local Interaction
WOS标题词	Science & Technology ; Technology
关键词[WOS]	PURSUIT-EVASION GAMES ; MOBILE ROBOTS ; COORDINATION ; ENVIRONMENTS ; STRATEGIES ; VISIBILITY
收录类别	SCI
语种	英语
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000318270900001
引用统计	被引频次：9[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/3492
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 2.Yangzhou Univ, Coll Informat Engn, Yangzhou, Peoples R China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Cao, Zhiqiang,Zhou, Chao,Cheng, Long,et al. A Distributed Hunting Approach for Multiple Autonomous Robots[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2013,10:1-8.
APA	Cao, Zhiqiang,Zhou, Chao,Cheng, Long,Yang, Yuequan,Zhang, Wenwen,&Tan, Min.(2013).A Distributed Hunting Approach for Multiple Autonomous Robots.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,10,1-8.
MLA	Cao, Zhiqiang,et al."A Distributed Hunting Approach for Multiple Autonomous Robots".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 10(2013):1-8.

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